Skip to content

kerwin112ME/RGB-Light-Landmark-Based-SLAM

Repository files navigation

RGB Light Landmark-Based SLAM

MEEN 689 Term Project

About

A matlab version of landmark-based SLAM using RGB light as landmarks.

How To Run

[Run a simulation]:

load('Input\test_input.mat');  
PF = RunSLAM(Ut, Zt, 1500, lmY, 1); % Run Particle Filter SLAM
[ekf traj] = RunEkfSLAM(Ut, Zt, 1); % Run EKF SLAM

[Run a real data]:

load('Input\test_data0421.mat');
[ekf traj] = RunEkfSLAM(U, rgb_d, 0);

Detail

Three light bults and a smartphone is everything we have.
We used our smartphone as the mobile robot, estimating its motion displacement by its accelerometer, GPS, gyroscope and magnetometer, and measuring the distance to three light bults by its RGB camera.

We implemented two kinds of SLAM: EKF SLAM and Particle Filter SLAM. We set the y-positions of three landmarks as known parameters to simplify the problem. The simulation data and real world test data are provided in the "input" file. The simulation results are shown in the next section. The real world test results, however, are not accurate as the simulation results since we only have a smartphone as our sensor.

Simulation

Run Particle Filter SLAM with number of particles: 2000
process noise variacne: 0.03
measurement noise variance: 1

Run EKF SLAM with
process noise variacne: 0.03
measurement noise variance: 1

About

MEEN 689 Term Project

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Contributors 3

  •  
  •  
  •  

Languages